Using Focusing Search Algorithms and a Strong Heuristic to Solve the Findpath Problem in Robotics.

Jin Wang Verlynda Dobbs Henry W. Davis Using Focusing Search Algorithms and a Strong Heuristic to Solve the Findpath Problem in Robotics. 63-69 1990 ACM Conference on Computer Science http://doi.acm.org/10.1145/100348.100359 db/conf/acm/csc90.html#WangDD90